含有未知负载跳变机械臂的切换跟踪控制器设计  

Switching tracking controller selection for robot manipulators with unknown shifting load

作　　者：王霞[1,2] 王姗 唐予军[1] 侯阔 董金国 WANG Xia;WANG Shan;TANG Yujun;HOU Kuo;DONG Jinguo(College of Electronic Information Engineering,Hebei University,Baoding 071002,China;Key Laboratory of Digital Medical in Hebei Province,Hebei University,Baoding 071002,China;Shijiazhuang New Century Patent and Trademark Firm,Ltd.,Shijiazhuang 050000,China)

机构地区：[1]河北大学电子信息工程学院,河北保定071002 [2]河北大学河北省数字医疗重点实验室,河北保定071002 [3]石家庄新世纪专利商标事务所有限公司,河北石家庄050000

出　　处：《河北大学学报（自然科学版）》2018年第4期437-442,共6页Journal of Hebei University(Natural Science Edition)

基　　金：国家自然科学基金资助项目(11771115);河北省自然科学基金资助项目(F2015201088);中西部提升综合实力--高层次人才培养和引进计划项目

摘　　要：为具有不可测跳变负载的机械臂设计了控制器的选择机制以达到轨迹跟踪的控制目的.用切换系统描述参数跳变的机械臂,从而将负载的切变表示为系统的切换信号.为每个负载设计子控制器,并在系统切换信号完全不可用的情况下,通过构建监督变量给出子控制器的切换逻辑.当负载变化满足平均驻留时间条件时,能够达到对输入参考信号的渐近跟踪.仿真证明了方法的正确性.A controller selection mechanism is proposed to solve the tracking problem of robot manipulator when the load shifts unpredictably.A switched system is used to model the manipulator so that the shifting of loads can be captured by the switching signal.When the switching signal of the switched system is unavailable,we design a switching logic for the candidate controllers via constructing a supervisory variable.Asymptotic tracking is achieved when the load change is slow enough.The proposed method is verified by simulation.

关 键 词：切换系统 机械臂 逻辑切换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]